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  <div class="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pro-attribs">Protected Attributes</a> &#124;
<a href="classRRTStarConnectClass-members.html">List of all members</a>  </div>
  <div class="headertitle">
<div class="title">RRTStarConnectClass Class Reference</div>  </div>
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<p>A class that implements RRT*-Connect sampling-based planning.  
 <a href="classRRTStarConnectClass.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="rrt__star__connect_8h_source.html">rrt_star_connect.h</a>&gt;</code></p>
<div class="dynheader">
Inheritance diagram for RRTStarConnectClass:</div>
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<div class="center"><img src="classRRTStarConnectClass__inherit__graph.png" border="0" usemap="#RRTStarConnectClass_inherit__map" alt="Inheritance graph"/></div>
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<area shape="rect" id="node2" href="classRRTConnectClass.html" title="A class that implements RRT&#45;Connect sampling&#45;based planning. " alt="" coords="17,80,151,107"/>
<area shape="rect" id="node3" href="classRRTClass.html" title="A class that implements RRT sampling&#45;based planning. " alt="" coords="42,5,126,32"/>
</map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
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Collaboration diagram for RRTStarConnectClass:</div>
<div class="dyncontent">
<div class="center"><img src="classRRTStarConnectClass__coll__graph.png" border="0" usemap="#RRTStarConnectClass_coll__map" alt="Collaboration graph"/></div>
<map name="RRTStarConnectClass_coll__map" id="RRTStarConnectClass_coll__map">
<area shape="rect" id="node2" href="classRRTConnectClass.html" title="A class that implements RRT&#45;Connect sampling&#45;based planning. " alt="" coords="17,80,151,107"/>
<area shape="rect" id="node3" href="classRRTClass.html" title="A class that implements RRT sampling&#45;based planning. " alt="" coords="42,5,126,32"/>
</map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:ab9d34372cf5e7bc53b5d9c4ebc769729"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTStarConnectClass.html#ab9d34372cf5e7bc53b5d9c4ebc769729">RRTStarConnectClass</a> ()</td></tr>
<tr class="memdesc:ab9d34372cf5e7bc53b5d9c4ebc769729"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for <a class="el" href="classRRTStarConnectClass.html" title="A class that implements RRT*-Connect sampling-based planning. ">RRTStarConnectClass</a>.  <a href="#ab9d34372cf5e7bc53b5d9c4ebc769729">More...</a><br /></td></tr>
<tr class="separator:ab9d34372cf5e7bc53b5d9c4ebc769729"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a02ee88d09c96cf9a451db27c841e9d07"><td class="memItemLeft" align="right" valign="top"><a id="a02ee88d09c96cf9a451db27c841e9d07"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTStarConnectClass.html#a02ee88d09c96cf9a451db27c841e9d07">~RRTStarConnectClass</a> ()</td></tr>
<tr class="memdesc:a02ee88d09c96cf9a451db27c841e9d07"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor for <a class="el" href="classRRTStarConnectClass.html" title="A class that implements RRT*-Connect sampling-based planning. ">RRTStarConnectClass</a>. <br /></td></tr>
<tr class="separator:a02ee88d09c96cf9a451db27c841e9d07"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a910471c2411b9be08ee4fd8955563fba"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTStarConnectClass.html#a910471c2411b9be08ee4fd8955563fba">extend</a> (<a class="el" href="classPlannerClass.html">PlannerClass</a> &amp;T, State s, <a class="el" href="classFastTerrainMap.html">FastTerrainMap</a> &amp;terrain, int direction)</td></tr>
<tr class="separator:a910471c2411b9be08ee4fd8955563fba"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae524cb362a1ddfbebe98722c7aff6184"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTStarConnectClass.html#ae524cb362a1ddfbebe98722c7aff6184">getStateAndActionSequences</a> (<a class="el" href="classPlannerClass.html">PlannerClass</a> &amp;Ta, <a class="el" href="classPlannerClass.html">PlannerClass</a> &amp;Tb, int shared_a_idx, int shared_b_idx, std::vector&lt; State &gt; &amp;state_sequence, std::vector&lt; Action &gt; &amp;action_sequence)</td></tr>
<tr class="separator:ae524cb362a1ddfbebe98722c7aff6184"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a605086b090e6fdf3fa75477286d024cb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTStarConnectClass.html#a605086b090e6fdf3fa75477286d024cb">buildRRTStarConnect</a> (<a class="el" href="classFastTerrainMap.html">FastTerrainMap</a> &amp;terrain, State s_start, State s_goal, std::vector&lt; State &gt; &amp;state_sequence, std::vector&lt; Action &gt; &amp;action_sequence, double max_time)</td></tr>
<tr class="memdesc:a605086b090e6fdf3fa75477286d024cb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Run the RRT*-Connect planner until the goal is found and time has expired, then post process and update statistics.  <a href="#a605086b090e6fdf3fa75477286d024cb">More...</a><br /></td></tr>
<tr class="separator:a605086b090e6fdf3fa75477286d024cb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classRRTConnectClass"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classRRTConnectClass')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classRRTConnectClass.html">RRTConnectClass</a></td></tr>
<tr class="memitem:a88d3109ab10bc529bae82194bfe92f04 inherit pub_methods_classRRTConnectClass"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTConnectClass.html#a88d3109ab10bc529bae82194bfe92f04">RRTConnectClass</a> ()</td></tr>
<tr class="memdesc:a88d3109ab10bc529bae82194bfe92f04 inherit pub_methods_classRRTConnectClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for <a class="el" href="classRRTConnectClass.html" title="A class that implements RRT-Connect sampling-based planning. ">RRTConnectClass</a>.  <a href="classRRTConnectClass.html#a88d3109ab10bc529bae82194bfe92f04">More...</a><br /></td></tr>
<tr class="separator:a88d3109ab10bc529bae82194bfe92f04 inherit pub_methods_classRRTConnectClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abab597ee00c5db17b2a0bcaecb41c9e3 inherit pub_methods_classRRTConnectClass"><td class="memItemLeft" align="right" valign="top"><a id="abab597ee00c5db17b2a0bcaecb41c9e3"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTConnectClass.html#abab597ee00c5db17b2a0bcaecb41c9e3">~RRTConnectClass</a> ()</td></tr>
<tr class="memdesc:abab597ee00c5db17b2a0bcaecb41c9e3 inherit pub_methods_classRRTConnectClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor for <a class="el" href="classRRTConnectClass.html" title="A class that implements RRT-Connect sampling-based planning. ">RRTConnectClass</a>. <br /></td></tr>
<tr class="separator:abab597ee00c5db17b2a0bcaecb41c9e3 inherit pub_methods_classRRTConnectClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a06728bcb6ac17178820b8bc7b369dec8 inherit pub_methods_classRRTConnectClass"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTConnectClass.html#a06728bcb6ac17178820b8bc7b369dec8">attemptConnect</a> (State s_existing, State s, double t_s, State &amp;s_new, Action &amp;a_new, <a class="el" href="classFastTerrainMap.html">FastTerrainMap</a> &amp;terrain, int direction)</td></tr>
<tr class="separator:a06728bcb6ac17178820b8bc7b369dec8 inherit pub_methods_classRRTConnectClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8c5fef8767dc163b90b5d0b9b834ee3c inherit pub_methods_classRRTConnectClass"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTConnectClass.html#a8c5fef8767dc163b90b5d0b9b834ee3c">attemptConnect</a> (State s_existing, State s, State &amp;s_new, Action &amp;a_new, <a class="el" href="classFastTerrainMap.html">FastTerrainMap</a> &amp;terrain, int direction)</td></tr>
<tr class="separator:a8c5fef8767dc163b90b5d0b9b834ee3c inherit pub_methods_classRRTConnectClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8b88169d81d44652eef8cb16c1f0c7d3 inherit pub_methods_classRRTConnectClass"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTConnectClass.html#a8b88169d81d44652eef8cb16c1f0c7d3">connect</a> (<a class="el" href="classPlannerClass.html">PlannerClass</a> &amp;T, State s, <a class="el" href="classFastTerrainMap.html">FastTerrainMap</a> &amp;terrain, int direction)</td></tr>
<tr class="separator:a8b88169d81d44652eef8cb16c1f0c7d3 inherit pub_methods_classRRTConnectClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa51d87a720f78efa8005ab48a1fcd438 inherit pub_methods_classRRTConnectClass"><td class="memItemLeft" align="right" valign="top">std::vector&lt; Action &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTConnectClass.html#aa51d87a720f78efa8005ab48a1fcd438">getActionSequenceReverse</a> (<a class="el" href="classPlannerClass.html">PlannerClass</a> &amp;T, std::vector&lt; int &gt; path)</td></tr>
<tr class="memdesc:aa51d87a720f78efa8005ab48a1fcd438 inherit pub_methods_classRRTConnectClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the actions along the specified path of vertex indices (assumes that actions are synched with the state at which they are executed)  <a href="classRRTConnectClass.html#aa51d87a720f78efa8005ab48a1fcd438">More...</a><br /></td></tr>
<tr class="separator:aa51d87a720f78efa8005ab48a1fcd438 inherit pub_methods_classRRTConnectClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a121b58fa356c9f4eb4279e7a3d65334a inherit pub_methods_classRRTConnectClass"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTConnectClass.html#a121b58fa356c9f4eb4279e7a3d65334a">postProcessPath</a> (std::vector&lt; State &gt; &amp;state_sequence, std::vector&lt; Action &gt; &amp;action_sequence, <a class="el" href="classFastTerrainMap.html">FastTerrainMap</a> &amp;terrain)</td></tr>
<tr class="memdesc:a121b58fa356c9f4eb4279e7a3d65334a inherit pub_methods_classRRTConnectClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">Post process the path by removing extraneous states that can be bypassed.  <a href="classRRTConnectClass.html#a121b58fa356c9f4eb4279e7a3d65334a">More...</a><br /></td></tr>
<tr class="separator:a121b58fa356c9f4eb4279e7a3d65334a inherit pub_methods_classRRTConnectClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a98e7315a326cf57f77414b9d5bbf6885 inherit pub_methods_classRRTConnectClass"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTConnectClass.html#a98e7315a326cf57f77414b9d5bbf6885">runRRTConnect</a> (<a class="el" href="classPlannerClass.html">PlannerClass</a> &amp;Ta, <a class="el" href="classPlannerClass.html">PlannerClass</a> &amp;Tb, <a class="el" href="classFastTerrainMap.html">FastTerrainMap</a> &amp;terrain)</td></tr>
<tr class="memdesc:a98e7315a326cf57f77414b9d5bbf6885 inherit pub_methods_classRRTConnectClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">Run the RRT-Connect planner once until the goal is found.  <a href="classRRTConnectClass.html#a98e7315a326cf57f77414b9d5bbf6885">More...</a><br /></td></tr>
<tr class="separator:a98e7315a326cf57f77414b9d5bbf6885 inherit pub_methods_classRRTConnectClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3c493a77256db7bc2111ab06876ca364 inherit pub_methods_classRRTConnectClass"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTConnectClass.html#a3c493a77256db7bc2111ab06876ca364">buildRRTConnect</a> (<a class="el" href="classFastTerrainMap.html">FastTerrainMap</a> &amp;terrain, State s_start, State s_goal, std::vector&lt; State &gt; &amp;state_sequence, std::vector&lt; Action &gt; &amp;action_sequence, double max_time)</td></tr>
<tr class="memdesc:a3c493a77256db7bc2111ab06876ca364 inherit pub_methods_classRRTConnectClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">Run the full RRT-Connect planner until the goal is found and time has expired, then post process and update statistics.  <a href="classRRTConnectClass.html#a3c493a77256db7bc2111ab06876ca364">More...</a><br /></td></tr>
<tr class="separator:a3c493a77256db7bc2111ab06876ca364 inherit pub_methods_classRRTConnectClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classRRTClass"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classRRTClass')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classRRTClass.html">RRTClass</a></td></tr>
<tr class="memitem:a9cac25f207d3e58646e560d829d51e25 inherit pub_methods_classRRTClass"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTClass.html#a9cac25f207d3e58646e560d829d51e25">RRTClass</a> ()</td></tr>
<tr class="memdesc:a9cac25f207d3e58646e560d829d51e25 inherit pub_methods_classRRTClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for <a class="el" href="classRRTClass.html" title="A class that implements RRT sampling-based planning. ">RRTClass</a>.  <a href="classRRTClass.html#a9cac25f207d3e58646e560d829d51e25">More...</a><br /></td></tr>
<tr class="separator:a9cac25f207d3e58646e560d829d51e25 inherit pub_methods_classRRTClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af71e054dccb03b92174cc9154f3f4eb7 inherit pub_methods_classRRTClass"><td class="memItemLeft" align="right" valign="top"><a id="af71e054dccb03b92174cc9154f3f4eb7"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTClass.html#af71e054dccb03b92174cc9154f3f4eb7">~RRTClass</a> ()</td></tr>
<tr class="memdesc:af71e054dccb03b92174cc9154f3f4eb7 inherit pub_methods_classRRTClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor for <a class="el" href="classRRTClass.html" title="A class that implements RRT sampling-based planning. ">RRTClass</a>. <br /></td></tr>
<tr class="separator:af71e054dccb03b92174cc9154f3f4eb7 inherit pub_methods_classRRTClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4acffd50e173aaeb9074248ea29032e9 inherit pub_methods_classRRTClass"><td class="memItemLeft" align="right" valign="top">std::vector&lt; int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTClass.html#a4acffd50e173aaeb9074248ea29032e9">pathFromStart</a> (<a class="el" href="classPlannerClass.html">PlannerClass</a> &amp;T, int idx)</td></tr>
<tr class="memdesc:a4acffd50e173aaeb9074248ea29032e9 inherit pub_methods_classRRTClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the path from the root vertex to the specified one.  <a href="classRRTClass.html#a4acffd50e173aaeb9074248ea29032e9">More...</a><br /></td></tr>
<tr class="separator:a4acffd50e173aaeb9074248ea29032e9 inherit pub_methods_classRRTClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a25d0142127211e5911b3a29e7dce5dfb inherit pub_methods_classRRTClass"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTClass.html#a25d0142127211e5911b3a29e7dce5dfb">printPath</a> (<a class="el" href="classPlannerClass.html">PlannerClass</a> &amp;T, std::vector&lt; int &gt; path)</td></tr>
<tr class="memdesc:a25d0142127211e5911b3a29e7dce5dfb inherit pub_methods_classRRTClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">Print the states in the specified path via stdout.  <a href="classRRTClass.html#a25d0142127211e5911b3a29e7dce5dfb">More...</a><br /></td></tr>
<tr class="separator:a25d0142127211e5911b3a29e7dce5dfb inherit pub_methods_classRRTClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5292f78ed563aae40b25591655a0cb9e inherit pub_methods_classRRTClass"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTClass.html#a5292f78ed563aae40b25591655a0cb9e">buildRRT</a> (<a class="el" href="classFastTerrainMap.html">FastTerrainMap</a> &amp;terrain, State s_start, State s_goal, std::vector&lt; State &gt; &amp;state_sequence, std::vector&lt; Action &gt; &amp;action_sequence)</td></tr>
<tr class="memdesc:a5292f78ed563aae40b25591655a0cb9e inherit pub_methods_classRRTClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">Execute the planner by constructing the tree until a path is found.  <a href="classRRTClass.html#a5292f78ed563aae40b25591655a0cb9e">More...</a><br /></td></tr>
<tr class="separator:a5292f78ed563aae40b25591655a0cb9e inherit pub_methods_classRRTClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a70f7eb63b760620faf6518d974270296 inherit pub_methods_classRRTClass"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTClass.html#a70f7eb63b760620faf6518d974270296">getStatistics</a> (double &amp;plan_time, int &amp;success_var, int &amp;vertices_generated, double &amp;time_to_first_solve, std::vector&lt; double &gt; &amp;cost_vector, std::vector&lt; double &gt; &amp;cost_vector_times, double &amp;path_duration)</td></tr>
<tr class="memdesc:a70f7eb63b760620faf6518d974270296 inherit pub_methods_classRRTClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the statistics for the planner solve.  <a href="classRRTClass.html#a70f7eb63b760620faf6518d974270296">More...</a><br /></td></tr>
<tr class="separator:a70f7eb63b760620faf6518d974270296 inherit pub_methods_classRRTClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9c5f2020764525b1ec77b3e019acfcbd inherit pub_methods_classRRTClass"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTClass.html#a9c5f2020764525b1ec77b3e019acfcbd">newConfig</a> (State s, State s_near, State &amp;s_new, Action &amp;a_new, <a class="el" href="classFastTerrainMap.html">FastTerrainMap</a> &amp;terrain, int direction)</td></tr>
<tr class="memdesc:a9c5f2020764525b1ec77b3e019acfcbd inherit pub_methods_classRRTClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate a new state that can be connected to the tree and is as close as possible to the specified state.  <a href="classRRTClass.html#a9c5f2020764525b1ec77b3e019acfcbd">More...</a><br /></td></tr>
<tr class="separator:a9c5f2020764525b1ec77b3e019acfcbd inherit pub_methods_classRRTClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7da5d15380a10262f01fa1c66b5064f9 inherit pub_methods_classRRTClass"><td class="memItemLeft" align="right" valign="top">std::vector&lt; State &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTClass.html#a7da5d15380a10262f01fa1c66b5064f9">getStateSequence</a> (<a class="el" href="classPlannerClass.html">PlannerClass</a> &amp;T, std::vector&lt; int &gt; path)</td></tr>
<tr class="memdesc:a7da5d15380a10262f01fa1c66b5064f9 inherit pub_methods_classRRTClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the states along the specified path of vertex indices.  <a href="classRRTClass.html#a7da5d15380a10262f01fa1c66b5064f9">More...</a><br /></td></tr>
<tr class="separator:a7da5d15380a10262f01fa1c66b5064f9 inherit pub_methods_classRRTClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af9ffdb926909423196f8a8f5a48f08ed inherit pub_methods_classRRTClass"><td class="memItemLeft" align="right" valign="top">std::vector&lt; Action &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTClass.html#af9ffdb926909423196f8a8f5a48f08ed">getActionSequence</a> (<a class="el" href="classPlannerClass.html">PlannerClass</a> &amp;T, std::vector&lt; int &gt; path)</td></tr>
<tr class="memdesc:af9ffdb926909423196f8a8f5a48f08ed inherit pub_methods_classRRTClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the actions along the specified path of vertex indices (assumes that actions are synched with the states to which they lead)  <a href="classRRTClass.html#af9ffdb926909423196f8a8f5a48f08ed">More...</a><br /></td></tr>
<tr class="separator:af9ffdb926909423196f8a8f5a48f08ed inherit pub_methods_classRRTClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:a8a0f7c804ed4b903d15d0f63a7eeeec5"><td class="memItemLeft" align="right" valign="top"><a id="a8a0f7c804ed4b903d15d0f63a7eeeec5"></a>
const double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTStarConnectClass.html#a8a0f7c804ed4b903d15d0f63a7eeeec5">delta</a> = 3.0</td></tr>
<tr class="memdesc:a8a0f7c804ed4b903d15d0f63a7eeeec5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Radius of neighborhood for rewiring. <br /></td></tr>
<tr class="separator:a8a0f7c804ed4b903d15d0f63a7eeeec5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classRRTConnectClass"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classRRTConnectClass')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classRRTConnectClass.html">RRTConnectClass</a></td></tr>
<tr class="memitem:a9a0b075d5562560dcbdde72e00c733f0 inherit pro_attribs_classRRTConnectClass"><td class="memItemLeft" align="right" valign="top"><a id="a9a0b075d5562560dcbdde72e00c733f0"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTConnectClass.html#a9a0b075d5562560dcbdde72e00c733f0">anytime_horizon</a></td></tr>
<tr class="memdesc:a9a0b075d5562560dcbdde72e00c733f0 inherit pro_attribs_classRRTConnectClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">Time horizon (in seconds) the planner is allowed to search until restarted. <br /></td></tr>
<tr class="separator:a9a0b075d5562560dcbdde72e00c733f0 inherit pro_attribs_classRRTConnectClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ade4e265ae025a586848fa5b87f452f07 inherit pro_attribs_classRRTConnectClass"><td class="memItemLeft" align="right" valign="top"><a id="ade4e265ae025a586848fa5b87f452f07"></a>
const double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTConnectClass.html#ade4e265ae025a586848fa5b87f452f07">planning_rate_estimate</a> = 16.0</td></tr>
<tr class="memdesc:ade4e265ae025a586848fa5b87f452f07 inherit pro_attribs_classRRTConnectClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initial guess at how quickly the planner executes (in m/s) <br /></td></tr>
<tr class="separator:ade4e265ae025a586848fa5b87f452f07 inherit pro_attribs_classRRTConnectClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac6a1c1aa7f49bf73b938b70a3d897371 inherit pro_attribs_classRRTConnectClass"><td class="memItemLeft" align="right" valign="top"><a id="ac6a1c1aa7f49bf73b938b70a3d897371"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTConnectClass.html#ac6a1c1aa7f49bf73b938b70a3d897371">anytime_horizon_init</a></td></tr>
<tr class="memdesc:ac6a1c1aa7f49bf73b938b70a3d897371 inherit pro_attribs_classRRTConnectClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initial anytime horizon (in seconds) <br /></td></tr>
<tr class="separator:ac6a1c1aa7f49bf73b938b70a3d897371 inherit pro_attribs_classRRTConnectClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a789206015b64495eddfdaf0ec457151d inherit pro_attribs_classRRTConnectClass"><td class="memItemLeft" align="right" valign="top"><a id="a789206015b64495eddfdaf0ec457151d"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTConnectClass.html#a789206015b64495eddfdaf0ec457151d">horizon_expansion_factor</a> = 1.2</td></tr>
<tr class="memdesc:a789206015b64495eddfdaf0ec457151d inherit pro_attribs_classRRTConnectClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">Factor by which horizon is increased if replanning is required. <br /></td></tr>
<tr class="separator:a789206015b64495eddfdaf0ec457151d inherit pro_attribs_classRRTConnectClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a001d087eeac2704c5cb25ee6355a29b6 inherit pro_attribs_classRRTConnectClass"><td class="memItemLeft" align="right" valign="top"><a id="a001d087eeac2704c5cb25ee6355a29b6"></a>
const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTConnectClass.html#a001d087eeac2704c5cb25ee6355a29b6">max_time_solve</a> = 20</td></tr>
<tr class="memdesc:a001d087eeac2704c5cb25ee6355a29b6 inherit pro_attribs_classRRTConnectClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">Hard maximum time allowed for the planner, returns unsuccessfully if reached. <br /></td></tr>
<tr class="separator:a001d087eeac2704c5cb25ee6355a29b6 inherit pro_attribs_classRRTConnectClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classRRTClass"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classRRTClass')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classRRTClass.html">RRTClass</a></td></tr>
<tr class="memitem:a3bea12d5a94669ee0713d8447c575f4b inherit pro_attribs_classRRTClass"><td class="memItemLeft" align="right" valign="top"><a id="a3bea12d5a94669ee0713d8447c575f4b"></a>
const double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTClass.html#a3bea12d5a94669ee0713d8447c575f4b">prob_goal_thresh</a> = 0.05</td></tr>
<tr class="memdesc:a3bea12d5a94669ee0713d8447c575f4b inherit pro_attribs_classRRTClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">Probability with which the goal is sampled (if running vanilla RRT) <br /></td></tr>
<tr class="separator:a3bea12d5a94669ee0713d8447c575f4b inherit pro_attribs_classRRTClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abd63c1f08cf738a4966010968e615e0a inherit pro_attribs_classRRTClass"><td class="memItemLeft" align="right" valign="top"><a id="abd63c1f08cf738a4966010968e615e0a"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTClass.html#abd63c1f08cf738a4966010968e615e0a">goal_found</a> = false</td></tr>
<tr class="memdesc:abd63c1f08cf738a4966010968e615e0a inherit pro_attribs_classRRTClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">Boolean for if the goal has been reached. <br /></td></tr>
<tr class="separator:abd63c1f08cf738a4966010968e615e0a inherit pro_attribs_classRRTClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaaf8027527034bc8fc424ff91f59acb6 inherit pro_attribs_classRRTClass"><td class="memItemLeft" align="right" valign="top"><a id="aaaf8027527034bc8fc424ff91f59acb6"></a>
std::chrono::duration&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTClass.html#aaaf8027527034bc8fc424ff91f59acb6">elapsed_total</a></td></tr>
<tr class="memdesc:aaaf8027527034bc8fc424ff91f59acb6 inherit pro_attribs_classRRTClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">Total time elapsed in this planner call. <br /></td></tr>
<tr class="separator:aaaf8027527034bc8fc424ff91f59acb6 inherit pro_attribs_classRRTClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a77a273cae4203340a655c83cf63baa4f inherit pro_attribs_classRRTClass"><td class="memItemLeft" align="right" valign="top"><a id="a77a273cae4203340a655c83cf63baa4f"></a>
std::chrono::duration&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>elapsed_to_first</b></td></tr>
<tr class="separator:a77a273cae4203340a655c83cf63baa4f inherit pro_attribs_classRRTClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7cddb22b09f2be69b1d93eb337963d03 inherit pro_attribs_classRRTClass"><td class="memItemLeft" align="right" valign="top"><a id="a7cddb22b09f2be69b1d93eb337963d03"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTClass.html#a7cddb22b09f2be69b1d93eb337963d03">success_</a> = 0</td></tr>
<tr class="memdesc:a7cddb22b09f2be69b1d93eb337963d03 inherit pro_attribs_classRRTClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">Integer checking if a solution was computed in 5 seconds. <br /></td></tr>
<tr class="separator:a7cddb22b09f2be69b1d93eb337963d03 inherit pro_attribs_classRRTClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af6e0461555d33efc0bce6dbeb4f1e741 inherit pro_attribs_classRRTClass"><td class="memItemLeft" align="right" valign="top"><a id="af6e0461555d33efc0bce6dbeb4f1e741"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTClass.html#af6e0461555d33efc0bce6dbeb4f1e741">num_vertices</a></td></tr>
<tr class="memdesc:af6e0461555d33efc0bce6dbeb4f1e741 inherit pro_attribs_classRRTClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of vertices in the tree. <br /></td></tr>
<tr class="separator:af6e0461555d33efc0bce6dbeb4f1e741 inherit pro_attribs_classRRTClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af0be1d3d077c4ea197b62a49a7c78277 inherit pro_attribs_classRRTClass"><td class="memItemLeft" align="right" valign="top"><a id="af0be1d3d077c4ea197b62a49a7c78277"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTClass.html#af0be1d3d077c4ea197b62a49a7c78277">path_quality_</a></td></tr>
<tr class="memdesc:af0be1d3d077c4ea197b62a49a7c78277 inherit pro_attribs_classRRTClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">Path quality in meters. <br /></td></tr>
<tr class="separator:af0be1d3d077c4ea197b62a49a7c78277 inherit pro_attribs_classRRTClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afcad861656af64f757753dd41f2fa5a9 inherit pro_attribs_classRRTClass"><td class="memItemLeft" align="right" valign="top"><a id="afcad861656af64f757753dd41f2fa5a9"></a>
std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTClass.html#afcad861656af64f757753dd41f2fa5a9">cost_vector_</a></td></tr>
<tr class="memdesc:afcad861656af64f757753dd41f2fa5a9 inherit pro_attribs_classRRTClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">Vector of costs each time a better one is found. <br /></td></tr>
<tr class="separator:afcad861656af64f757753dd41f2fa5a9 inherit pro_attribs_classRRTClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acbbbd085d2648f8f39c664776163bf18 inherit pro_attribs_classRRTClass"><td class="memItemLeft" align="right" valign="top"><a id="acbbbd085d2648f8f39c664776163bf18"></a>
std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTClass.html#acbbbd085d2648f8f39c664776163bf18">cost_vector_times_</a></td></tr>
<tr class="memdesc:acbbbd085d2648f8f39c664776163bf18 inherit pro_attribs_classRRTClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">Vector of times at which each better cost is found. <br /></td></tr>
<tr class="separator:acbbbd085d2648f8f39c664776163bf18 inherit pro_attribs_classRRTClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3c8e83183a9d3383571eccbdde77d842 inherit pro_attribs_classRRTClass"><td class="memItemLeft" align="right" valign="top"><a id="a3c8e83183a9d3383571eccbdde77d842"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classRRTClass.html#a3c8e83183a9d3383571eccbdde77d842">path_duration_</a></td></tr>
<tr class="memdesc:a3c8e83183a9d3383571eccbdde77d842 inherit pro_attribs_classRRTClass"><td class="mdescLeft">&#160;</td><td class="mdescRight">The duration of the path in seconds. <br /></td></tr>
<tr class="separator:a3c8e83183a9d3383571eccbdde77d842 inherit pro_attribs_classRRTClass"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>A class that implements RRT*-Connect sampling-based planning. </p>
<p>This class inherits the <a class="el" href="classRRTConnectClass.html" title="A class that implements RRT-Connect sampling-based planning. ">RRTConnectClass</a>, and modifies the extend function to rewire nearby states to reduce path length. </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="ab9d34372cf5e7bc53b5d9c4ebc769729"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab9d34372cf5e7bc53b5d9c4ebc769729">&#9670;&nbsp;</a></span>RRTStarConnectClass()</h2>

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          <td class="memname">RRTStarConnectClass::RRTStarConnectClass </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Constructor for <a class="el" href="classRRTStarConnectClass.html" title="A class that implements RRT*-Connect sampling-based planning. ">RRTStarConnectClass</a>. </p>
<dl class="section return"><dt>Returns</dt><dd>Constructed object of type <a class="el" href="classRRTStarConnectClass.html" title="A class that implements RRT*-Connect sampling-based planning. ">RRTStarConnectClass</a> </dd></dl>

</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a id="a605086b090e6fdf3fa75477286d024cb"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a605086b090e6fdf3fa75477286d024cb">&#9670;&nbsp;</a></span>buildRRTStarConnect()</h2>

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          <td class="memname">void RRTStarConnectClass::buildRRTStarConnect </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classFastTerrainMap.html">FastTerrainMap</a> &amp;&#160;</td>
          <td class="paramname"><em>terrain</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">State&#160;</td>
          <td class="paramname"><em>s_start</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">State&#160;</td>
          <td class="paramname"><em>s_goal</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; State &gt; &amp;&#160;</td>
          <td class="paramname"><em>state_sequence</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; Action &gt; &amp;&#160;</td>
          <td class="paramname"><em>action_sequence</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>max_time</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Run the RRT*-Connect planner until the goal is found and time has expired, then post process and update statistics. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">terrain</td><td>Height map of the terrain </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">s_start</td><td>The start state of the planner </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">s_goal</td><td>The goal state of the planner </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">state_sequence</td><td>The sequence of states in the final path </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">action_sequence</td><td>The sequence of actions in the final path </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">max_time</td><td>The time after which rewiring is halted </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a910471c2411b9be08ee4fd8955563fba"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a910471c2411b9be08ee4fd8955563fba">&#9670;&nbsp;</a></span>extend()</h2>

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          <td class="memname">int RRTStarConnectClass::extend </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classPlannerClass.html">PlannerClass</a> &amp;&#160;</td>
          <td class="paramname"><em>T</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">State&#160;</td>
          <td class="paramname"><em>s</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classFastTerrainMap.html">FastTerrainMap</a> &amp;&#160;</td>
          <td class="paramname"><em>terrain</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>direction</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
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<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
  </tr>
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</div><div class="memdoc">
<p>Extend the tree towards the desired state and rewire nearby states </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">T</td><td>The <a class="el" href="classPlannerClass.html" title="A directed graph class with supplemental methods to aid in sample-based planning. ...">PlannerClass</a> instance containing the tree </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">s</td><td>The state to extend the tree towards </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">terrain</td><td>Height map of the terrain </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">direction</td><td>The direction with which to peform the extension (FORWARD to go away from the root vertex, REVERSE to go towards it) </td></tr>
  </table>
  </dd>
</dl>

<p>Reimplemented from <a class="el" href="classRRTClass.html#a1d08928089500c78d6a434d801911982">RRTClass</a>.</p>

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<a id="ae524cb362a1ddfbebe98722c7aff6184"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae524cb362a1ddfbebe98722c7aff6184">&#9670;&nbsp;</a></span>getStateAndActionSequences()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void RRTStarConnectClass::getStateAndActionSequences </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classPlannerClass.html">PlannerClass</a> &amp;&#160;</td>
          <td class="paramname"><em>Ta</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classPlannerClass.html">PlannerClass</a> &amp;&#160;</td>
          <td class="paramname"><em>Tb</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>shared_a_idx</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>shared_b_idx</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; State &gt; &amp;&#160;</td>
          <td class="paramname"><em>state_sequence</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; Action &gt; &amp;&#160;</td>
          <td class="paramname"><em>action_sequence</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">
<p>Get the path from the vertex of the two trees through the specified vertex </p><dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">Ta</td><td>Tree with root vertex at start state </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">Tb</td><td>Tree with root vertex at goal state </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">shared_a_idx</td><td>The index of the specified vertex in Tree A </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">shared_b_idx</td><td>The index of the specified vertex in Tree B </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">state_sequence</td><td>The sequence of states in the path </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">action_sequence</td><td>The sequence of actions in the path </td></tr>
  </table>
  </dd>
</dl>

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</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>include/global_body_planner/<a class="el" href="rrt__star__connect_8h_source.html">rrt_star_connect.h</a></li>
<li>src/rrt_star_connect.cpp</li>
</ul>
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